A Robust Descriptor Approach for Nonlinear Tracking Control of Serial Robots

Tran Anh-Tu Nguyen (1, 2) , van Anh Nguyen Thi , Antoine Dequidt (1, 2) , Laurent Vermeiren (1) , Michel Dambrine (1)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 INSA Hauts-De-France - INSA Institut National des Sciences Appliquées Hauts-de-France

This paper presents a method for the control design of a two degrees of freedom (2-DoF) serial manipulator using descriptor Takagi-Sugeno modelling. The design goal is to achieve a guaranteed H∞ model reference tracking performance while significantly reducing the numerical complexity of the designed controller through a robust control scheme. Based on Lyapunov stability theory, the control design is formulated as an LMI (linear matrix inequality) optimization problem. Simulation results carried out with the SimMechanics environment clearly demonstrate the effectiveness of the proposed method.

Mots clés: Numerical models; Manipulator dynamics; Friction; Actuators; Control design

Domaines: Automatique / Robotique

Tran Anh-Tu Nguyen, van Anh Nguyen Thi, Antoine Dequidt, Laurent Vermeiren, Michel Dambrine. A Robust Descriptor Approach for Nonlinear Tracking Control of Serial Robots. 57th IEEE Conference on Decision and Control (CDC), Dec 2018, Miami Beach, FL, United States. pp.6906-6911, ⟨10.1109/CDC.2018.8619750⟩. ⟨hal-03408418⟩